19 lines
773 B
C
19 lines
773 B
C
#ifndef __MECANUM_H
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#define __MECANUM_H
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#define Mecanum_LeftFrontWheel M3508_2//左前轮
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#define Mecanum_RightFrontWheel M3508_1//右前轮
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#define Mecanum_LeftRearWheel M3508_3//左后轮
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#define Mecanum_RightRearWheel M3508_4//右后轮
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extern float Mecanum_Power;//底盘功率(软件计算值)
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extern float Mecanum_YawTheta;//底盘云台相对偏航角度
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void Mecanum_Init(void);//麦轮初始化
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void Mecanum_CleanPID(void);//麦轮PID清理
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void Mecanum_ControlSpeed(int16_t LeftFrontSpeed,int16_t RightFrontSpeed,int16_t LeftRearSpeed,int16_t RightRearSpeed);//麦轮速度控制
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void Mecanum_InverseMotionControl(float v_x,float v_y,float w);//麦轮逆运动解算
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void Mecanum_PowerMoveControl(void);//麦轮功率控制
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#endif
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